General coordinate frame assignments
15
General coordinate frame assignments (Craig, Fig. 3.5)
Transcript of General coordinate frame assignments
General coordinate frame assignments
(Craig, Fig. 3.5)
Derivation of homogeneous transform
(Craig, Fig. 3.15)
Planar manipulator
(Craig, Fig. 3.6) (Craig, Fig. 3.7)
PUMA 560 Robot
PUMA 560 Robot
L
1
L
2
PUMA 560 Robot
L
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L
2
PUMA 560 Robot
L
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L
2
PUMA 560 Robot
L
1
L
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PUMA 560 Robot
a
2
d
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PUMA 560 Robot
a
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d
3
(Craig, Fig. 3.19)
PUMA 560 Robot: Last three joints
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4
L
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PUMA 560 Robot: Last three joints
d
4
a
3
PUMA 560 Robot: Last three joints
d
4
a
3
PUMA 560 Robot: Last three joints
d
4
a
3
(Craig, Fig. 3.20)
